#ifndef __MISSION_H__
#define __MISSION_H__

#include "main.h"
#include "gw_grayscale_sensor.h"
#include "PID.h"
#include "motor.h"
#include "stdio.h"
#include "cam.h"
#include "buzzer.h"
#include "cmath"
#include "Bluetooth.h"
#include "Stepper_Motor.h"

#define BLOB_TARGET_AREA 9000 // 目标色块面积
#define BLOB_BASE_SPEED 400 // 色块前进速度
extern volatile int Mode7_start_encoder;
extern volatile int Mode7_end_encoder;
extern volatile int Mode11_start_encoder;
extern volatile int Mode11_end_encoder;
extern volatile float Mode7_ave_Yaw;   // 平均偏航角
extern volatile float Mode11_back_Yaw; // 反转偏航角

void A_mission(void); // A题目任务函数
#endif

